Research on motion control system of mine rescue robot

摘要

According to demand of six-pedrail mine rescue robot in a complex environment, it is designed as modularization of hardware architecture based on upper and lower processor of multi-CPU, using IPC as the central computer. The motion control system software is built though VC++. The experiments show that the system can control two drive-motors and four-arm motors well, and the demand of motion control system of mine rescue robot is met. Motion control system of mine rescue robot has good real-time, reliability, accuracy, and openness.